BodyMechParams;
ControlParams;
prostheticParams;

LGainGAS           = Gains( 1);
LGainGLU           = Gains( 2);
LGainHAM           = Gains( 3);
LGainKneeOverExt   = Gains( 4);
LGainSOL           = Gains( 5);
LGainSOLTA         = Gains( 6);
LGainTA            = Gains( 7);
LGainVAS           = Gains( 8);
LKglu              = Gains( 9);
LPosGainGG         = Gains(10);
LSpeedGainGG       = Gains(11);
LhipDGain          = Gains(12);
LhipPGain          = Gains(13);
LkneeExtendGain    = Gains(14);
LkneeFlexGain      = Gains(15);
LkneeHoldGain1     = Gains(16);
LkneeHoldGain2     = Gains(17);
LkneeStopGain      = Gains(18);
LlegAngleFilter    = Gains(19);
LlegLengthClr      = Gains(20);
RGainGAS           = Gains(21);
RGainGLU           = Gains(22);
RGainHAM           = Gains(23);
RGainHAMCut        = Gains(24);
RGainKneeOverExt   = Gains(25);
RGainSOL           = Gains(26);
RGainSOLTA         = Gains(27);
RGainTA            = Gains(28);
RGainVAS           = Gains(29);
RKglu              = Gains(30);
RPosGainGG         = Gains(31);
RSpeedGainGG       = Gains(32);
RhipDGain          = Gains(33);
RhipPGain          = Gains(34);
RkneeExtendGain    = Gains(35);
RkneeFlexGain      = Gains(36);
RkneeHoldGain1     = Gains(37);
RkneeHoldGain2     = Gains(38);
RkneeStopGain      = Gains(39);
RlegAngleFilter    = Gains(40);
RlegLengthClr      = Gains(41);
simbiconGainD      = Gains(42);
simbiconGainV      = Gains(43);
simbiconLegAngle0  = Gains(44);
anklePgain         = Gains(45);
ankleDgain         = Gains(46);
ankleFilterPID     = Gains(47);
ankleFilterSEA     = Gains(48);
kneePgain          = Gains(49);
kneeDgain          = Gains(50);
kneeFilterPID      = Gains(51);
kneeFilterSEA      = Gains(52);
legAngleTgt        = Gains(53);

%[groundX, groundZ, groundTheta] = generateGround('const',0.08,1);
[groundX, groundZ, groundTheta] = generateGround('flat');
